formatter = logging.Formatter(
"%(asctime)s - %(name)s - %(levelname)s - %(message)s")
rainbowHandler.setFormatter(formatter)
logger.addHandler(rainbowHandler)
logger.setLevel(logging.DEBUG)
if True:
obj = '/dev/ttyAMA0'
fake = False
else:
obj = SerialFake
fake = True
serial = Serial()
serial.connect(obj)
servo = Servo(serial, fakemode=fake)
#Servo.init()
#ServoSeq = Servo_Sequencer(servo)
#ServoSeq.daemon = True;
#ServoSeq.start()
engine = Servo_Engine(servo)
engine.start()
SPEED = 1
CONSIGNE = 170
def test(index):
<<<<<<< HEAD
if Config.FAKE_MODE:
obj = SerialFake
else:
obj = '/dev/ttyAMA0'
=======
if True:
obj = '/dev/ttyAMA0'
fake = False
else:
obj = SerialFake
fake = True
>>>>>>> e9ffd7ef371450a29e24962357af5942710c8547
serial = Serial()
serial.connect(obj)
<<<<<<< HEAD
servo = Servo(serial, fakemode = Config.FAKE_MODE)
=======
servo = Servo(serial, fakemode = fake)
>>>>>>> e9ffd7ef371450a29e24962357af5942710c8547
servo.init()
#ServoSeq = Servo_Sequencer(servo)
#ServoSeq.daemon = True;
#ServoSeq.start()
#sspeed = Servo_SpeedStep(servo)
sspeed = Servo_SpeedDelay(servo)
sspeed.start()
class BleuettePi(Serial):
INTA = 26
INTB = 15
INTC = 22
INTD = 12
STATUS_MAX_CURRENT_REACHED = 0
MCP_ADDRESS = 0x20
RESET_PIN = 14
serial = None
mcp = None
Servo = None
Compass = None
Accelerometer = None
GroundSensor = None
def __init__(self, serialDev):
self.logger = logging.getLogger('BleuettePi')
self.serial = Serial()
self.serial.connect(serialDev)
self.mcp = MCP230XX(self.MCP_ADDRESS, 16)
self.Servo = Servo.Servo(self.serial, fakemode = Config.FAKE_MODE)
self.Servo.init()
Servo.Servo_Trim.values = Data.Instance().get(['servo', 'trims'])
Servo.Servo_Limit.values = Data.Instance().get(['servo', 'limits'])
self.Analog = Analog(self.serial)
self.Compass = BleuettePi_Compass()
self.Accelerometer = BleuettePi_Accelerometer()
self.GroundSensor = BleuettePi_GroundSensor(self.mcp)
# Init mode
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.INTA, GPIO.IN)
GPIO.setup(self.INTB, GPIO.IN)
GPIO.setup(self.INTC, GPIO.IN)
GPIO.setup(self.INTD, GPIO.IN)
GPIO.add_event_detect(self.INTA, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
GPIO.add_event_detect(self.INTB, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
GPIO.add_event_detect(self.INTC, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
GPIO.add_event_detect(self.INTD, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
self.mcp.config(self.RESET_PIN, MCP230XX.OUTPUT)
#self.mcp.pullup(self.RESET_PIN, True)
self.mcp.output(self.RESET_PIN, 1)
def interrupt(self, index):
if index == self.INTA:
self.logger.info("Interrupt from GPA")
elif index == self.INTB:
self.logger.info("Interrupt from GPB")
elif index == self.INTC:
self.logger.info("Interrupt from RTC")
elif index == self.INTD:
self.logger.info("Interrupt from PIC")
self.getStatus()
'''
def setCurrentAlarmLevel(self, level):
print "Level", level
if level >= 1024:
raise Exception('Max current alarm level is 1024 !')
data = struct.pack("@i", level)
level = [ data[0], data[1] ]
return self.command(BPi_Cmd.SET_MAX, level)
'''
# Hard reset
def reset(self):
self.mcp.output(self.RESET_PIN, 0)
time.sleep(1)
self.mcp.output(self.RESET_PIN, 1)
time.sleep(1)
self.Servo.init()
def getStatus(self):
self.serial.write(self.HEADER)
self.serial.write(BPi_Cmd.STATUS)
status = self.serial.read(1)
if ord(status) & (1 << self.STATUS_MAX_CURRENT_REACHED):
self.logger.warning("Max current reached !")
return status
class BleuettePi(Serial):
INTA = 26
INTB = 15
INTC = 22
INTD = 12
STATUS_MAX_CURRENT_REACHED = 0
MCP_ADDRESS = 0x20
RESET_PIN = 14
serial = None
mcp = None
Servo = None
Compass = None
Accelerometer = None
GroundSensor = None
def __init__(self, serialDev):
self.logger = logging.getLogger('BleuettePi')
self.serial = Serial()
self.serial.connect(serialDev)
self.mcp = MCP230XX(self.MCP_ADDRESS, 16)
self.Servo = Servo.Servo(self.serial, fakemode=Config.FAKE_MODE)
self.Servo.init()
Servo.Servo_Trim.values = Data.Instance().get(['servo', 'trims'])
Servo.Servo_Limit.values = Data.Instance().get(['servo', 'limits'])
self.Analog = Analog(self.serial)
self.Compass = BleuettePi_Compass()
self.Accelerometer = BleuettePi_Accelerometer()
self.GroundSensor = BleuettePi_GroundSensor(self.mcp)
# Init mode
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.INTA, GPIO.IN)
GPIO.setup(self.INTB, GPIO.IN)
GPIO.setup(self.INTC, GPIO.IN)
GPIO.setup(self.INTD, GPIO.IN)
GPIO.add_event_detect(self.INTA,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTB,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTC,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTD,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
self.mcp.config(self.RESET_PIN, MCP230XX.OUTPUT)
#self.mcp.pullup(self.RESET_PIN, True)
self.mcp.output(self.RESET_PIN, 1)
def interrupt(self, index):
if index == self.INTA:
self.logger.info("Interrupt from GPA")
elif index == self.INTB:
self.logger.info("Interrupt from GPB")
elif index == self.INTC:
self.logger.info("Interrupt from RTC")
elif index == self.INTD:
self.logger.info("Interrupt from PIC")
self.getStatus()
'''
def setCurrentAlarmLevel(self, level):
print "Level", level
if level >= 1024:
raise Exception('Max current alarm level is 1024 !')
data = struct.pack("@i", level)
level = [ data[0], data[1] ]
return self.command(BPi_Cmd.SET_MAX, level)
'''
# Hard reset
def reset(self):
self.mcp.output(self.RESET_PIN, 0)
time.sleep(1)
self.mcp.output(self.RESET_PIN, 1)
time.sleep(1)
self.Servo.init()
def getStatus(self):
self.serial.write(self.HEADER)
self.serial.write(BPi_Cmd.STATUS)
status = self.serial.read(1)
if ord(status) & (1 << self.STATUS_MAX_CURRENT_REACHED):
self.logger.warning("Max current reached !")
return status
from LoggingConfig import LoggingConfig
parser = argparse.ArgumentParser()
parser.add_argument('serial_port')
parser.add_argument('mqtt_host')
args = parser.parse_args()
serial_baud = 9600
message_terminator = "|"
logging_config = LoggingConfig()
logger = logging_config.get_logger()
serial = Serial(args.serial_port, serial_baud, message_terminator, logger)
mqtt = MqttConnection(args.mqtt_host, logger)
multisensor = Multisensor(mqtt, logger)
serial.add_callback(multisensor.process_sensor)
serial.connect()
mqtt.connect()
multisensor.init_discovery()
def exit_handler():
serial.disconnect()
atexit.register(exit_handler)
while True:
serial.loop()
mqtt.loop()
time.sleep(0.1)
class BleuettePi(Serial):
INTA = 26
INTB = 15
INTC = 22
INTD = 12
STATUS_MAX_CURRENT_REACHED = 0
serial = None
Compass = None
Accelerometer = None
GroundSensor = None
def __init__(self, mixed):
self.serial = Serial()
self.serial.connect(mixed)
self.Servo = Servo(self.serial, fakemode = Config.FAKE_MODE)
self.Analog = Analog(self.serial)
self.Compass = BleuettePi_Compass()
self.Accelerometer = BleuettePi_Accelerometer()
self.GroundSensor = BleuettePi_GroundSensor()
# Init mode
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.INTA, GPIO.IN)
GPIO.setup(self.INTB, GPIO.IN)
GPIO.setup(self.INTC, GPIO.IN)
GPIO.setup(self.INTD, GPIO.IN)
GPIO.add_event_detect(self.INTA, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
GPIO.add_event_detect(self.INTB, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
GPIO.add_event_detect(self.INTC, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
GPIO.add_event_detect(self.INTD, GPIO.RISING, callback = self.interrupt, bouncetime = 300)
def interrupt(self, index):
if index == self.INTA:
print "Interrupt from GPA"
elif index == self.INTB:
print "Interrupt from GPB"
elif index == self.INTC:
print "Interrupt from RTC"
elif index == self.INTD:
print "Interrupt from PIC !"
self.getStatus()
'''
def setCurrentAlarmLevel(self, level):
print "Level", level
if level >= 1024:
raise Exception('Max current alarm level is 1024 !')
data = struct.pack("@i", level)
level = [ data[0], data[1] ]
return self.command(BPi_Cmd.SET_MAX, level)
'''
def getStatus(self):
self.serial.write(self.HEADER)
self.serial.write(BPi_Cmd.STATUS)
status = self.serial.read(1)
if ord(status) & (1 << self.STATUS_MAX_CURRENT_REACHED):
print "Max current reached !"
return status
